Image: metamorworks/iStock/Getty Images Plus/Getty ImagesChris Hogstrom, Spirent Federal Systems
Inertial navigation systems (INS), like most navigation systems, have evolved through countless iterations and improvements over many years. An INS, unlike other navigation technologies, does not rely on any external signals or inputs to aid navigation. It is, therefore, extremely difficult to spoof, jam or disrupt the system, and solar flares, ground/sky visibility and climate do not affect its ability to aid in navigation — unlike GNSS.
An INS knows where it is going because it knows where it has been. Modern INS use a minimum of three orthogonal accelerometers to measure accelerations in the x, y, z planes and a minimum of three orthogonal gyroscopes to measure the angular accelerations about the x, y, z planes. When the INS is initializing, its current location is fed into the system. After initialization, the INS utilizes the sensor outputs to determine its position relative to its starting point.
The INS made its debut during World War II, where it was used to guide German V2 missiles. At the time, the INS was still rather primitive, using two two-degrees-of-freedom gyroscopes and one integrating accelerometer. It wasn’t until the war’s end that Wernher von Braun and his team developed a stable platform with three single-degree-of-freedom gyroscopes and an integrating accelerometer.
World War II Innovation
Once the war was over, the United States Army acquired many of the lead scientists from the German V2 project and furthered research into INS. The Air Force also had an interest in INS and contracted Northrop Aircraft (now Northrop Grumman) to develop the guidance system aboard the SNARK cruise missile. However, the work under Charles Draper at MIT’s Instrumentation Laboratory spearheaded INS for use in aircraft. Draper was an amateur pilot and quickly saw the benefits that a self-contained system provided over the navigation systems of the day. The developments made by the Instrumentation Laboratory led to the success of the inertial-guided transcontinental flight in 1953.
By the late 1960s, military bombers and aircraft used INS, and by the early 1970s, it was commonplace in commercial aircraft, too. Today, INS technology can be found in aircraft, spacecraft, ships and submarines, as well as smartphones, watches and other wearable tech. It has quickly become an essential enabling technology for autonomous vehicles, and future applications are being studied.
The biggest weakness of INS is that they drift over time. This means that the longer an INS functions, the less accurate it becomes. For this reason, many INS are part of a sensor-fusion system. Incorporating data from many different sensors — such as GPS, a barometer, a compass and INS — a sensor-fusion system combines data through a Kalman filter to determine a more reliable and accurate positioning and navigation solution.
Best of Both Worlds
By combining INS with GPS, you get the benefit of both systems while minimizing their weaknesses. GPS and other GNSS have quickly become the gold standard for accurate positioning, as well as being the only global source of absolute position. Receivers tracking four or more satellites can provide their precise location anywhere on Earth.
However, GPS has significant and well-documented weaknesses. These stem, primarily, from the fact that GPS signals are extremely weak by the time they reach terrestrial users. This means that GPS signals, intentionally or otherwise, are easy to jam, and the broadcast nature of the signals means they are open to a variety of spoofing attacks. Fusion systems using an INS and GPS receiver can rely on GPS when the GPS signal is unobstructed, and switch to the INS solution when GPS is unreliable.
In a world where aircraft are now able to fly themselves and cars are quickly achieving autonomy, our dependence on these sensors is ever-increasing. Autonomous solutions with a navigation sensor suite of multiple sensor types are becoming common. Sensor suites can include other vehicle sensors that aid absolute positioning by sensing parameters such as steering angles, wheel rotations, etc. They are also beginning to incorporate non-GNSS-based RF signals to aid in navigation. Multiple sensors offer increased redundancy, helping achieve the required safety levels and the desired performance boundaries.
High-Mileage Testing
Testing and optimizing these sensor-fusion systems presents a serious challenge, especially in the transportation sector. Testing on a live platform can be hugely expensive and lacks any chance of repeatability. For these reasons, simulation is critical. In addition, representative models must take into account the impact of the environment and the dynamics of the vehicle frame (where sensors are installed) to achieve the requisite realism.
My company, Spirent Federal, has spent the past 20 years building sophisticated and robust test solutions so that sensor-fusion systems can be fully tested and characterized. Thorough testing increases performance and reliability in safety- and mission-critical applications.
Specifically, our GSS7000 and GSS9000 GNSS simulators deliver the precision and fidelity needed for high-performance applications, while our inertial emulation platforms incorporate the key industry models of both inertial measurement units (IMUs) and embedded GPS/inertial (EGIs) for dynamic integrated testing in the lab.
We work closely with major defense contractors, such as Northrop Grumman and Honeywell, to provide robust test solutions as well as alternative RF PNT simulation capabilities.
In addition, hardware-in-the-loop incorporation with ultra-low latency, modeling signal propagation in a 3D environment — and the ability to “shift left” with software-only testing — are what helps to make Spirent Federal the trusted partner in sensor fusion development.
Chris Hogstrom is an engineer with Spirent Federal Systems.
As we bid farewell to the last GPS-IIA satellite and read of delays to both the launch schedule for GPS III satellites and roll-out of the OCX program, we are mindful of the need to maintain GPS as the “Gold Standard” in GNSS.
Certainly, new signals, enhanced resilience and expanded capabilities are offered by the modernized GPS playbook. Delays relative to both the BeiDou and Galileo constellations could seriously impact the position of GPS on the medals podium — maybe not in the longer term, but certainly in the coming few years.
This may have a secondary impact on the receiver market, shifting focus away from GPS to more capable signals in the near term. Once GPS has caught up, receiver manufacturers may choose to retain the technology that they developed to capitalize on BeiDou and Galileo signals, rather than developing their legacy GPS capabilities.
GPS L2C is currently “pre-operational,” transmitted by slightly more than half the existing mixed-generation satellite fleet and waiting for OCX support. As of Feb. 20, a realistic estimate for operational capability of GPS L2C is now 2023.
GPS L5 is also pre-operational, transmitted by slightly less than half of the GPS satellites and waiting for OCX support. As of Feb. 20, a realistic estimate for GPS L5 is 2027.
The forecast for GPS L1C operational capability is the late 2020s. This is intended to be the signal that offers international interoperability with the current interoperability signals offered by existing BeiDou and Galileo satellites.
Delays to the implementation of GPS L1C may mean that GPS misses the interoperability boat entirely. During the delay, new interoperability capability with even more robust signals could be devised and lofted aboard Galileo, BeiDou and GLONASS satellites. By then, other countries could also develop their own constellations, possibly regional or even global systems.
Potentially, GPS could be left behind as other nations discuss non-GPS internationally interoperable signals on yet-to-be launched satellites. This may have a profound impact on SBAS, too. Differential corrections provided by the Japanese MSAS, Russian SDCM and European EGNOS SBAS systems might evolve to support “beyond L1C” interoperability signals. Aircraft landings at world airports could mandate the use of corrections to these new signals. This might mean that U.S. receiver manufacturers could be frozen out, or will have to incorporate these new interoperable signal standards.
GPS Block III satellites along with OCX offer improved signals, capabilities and resilience, but the satellites need to be flying, OCX needs to be operational and receivers need to be in the hands of the users. Sooner rather than later is a must for Gold-Standard GPS.
Paul Crampton is a senior systems engineer at Spirent Federal Systems with more than 30 years of GPS experience.
With the first GPS Block III satellite SVN 74 being set as healthy and active in January, GPS has reached another important milestone. Setting the vehicle healthy and active makes the satellite available for use by military and civilian GPS users around the world. GPS has been a hugely successful system, consistently exceeding its performance specification and providing users with levels of accuracy and availability that would have seemed astonishing only a few short years ago.
Despite these successes, the limitations of GPS and other GNSS have been highlighted by a catalog of real-world well-documented jamming and spoofing incidents, some of which have had serious impacts. With this increase of incidents, the military and commercial worlds have become increasingly aware of the vulnerabilities of sole reliance on GNSS. Interference with GNSS is a critical risk to not only business continuity, but to the safety of the world.
Image: Spirent Federal
Simply trusting the output from a GNSS receiver without question is no longer acceptable in safety- or liability-critical applications. The focus of many manufacturers and developers has been on assuring the integrity of reported GNSS PNT data.
Recently, more systems have begun using non-GNSS data sources to augment the GNSS solution. A GNSS receiver becomes one of the many sensors used in a system that combines their inputs to provide an assured, trustworthy source of precise positioning and timing data even when GNSS is disrupted. There are also active global initiatives in both commercial and military domains worldwide to seek and develop direct replacements for GNSS-based navigation and timing systems.These systems eliminate the use of GNSS completely and are termed “alternative navigation systems.”
Whether assured, augmented or alternative, these PNT systems need careful assessment. Their performance, robustness and resilience need to be measured in normal conditions and with interference.
Spirent is actively working to develop new, relevant test frameworks and designing the next generation of PNT test equipment that can easily integrate with and assess more than one technology. From inertial integrated with GPS to a number of alternative PNT systems that are being analyzed by the U.S. government, Spirent is working to unlock the maximum benefits of the next generation of PNT solutions.
Roger Hart, director of engineering, joined Spirent Federal in 2015. He has worked in development of spacecraft navigation systems, including GPS, for civil, NASA and defense applications since 1986. Guy Buesnel is Spirent’s specialist PNT Security Technologist covering the areas of PNT threats and mitigation.
Social distancing and stay-at-home orders are affecting every sector of our economy. How are companies in our industry rising to this enormous challenge? What are they doing to keep their staffs, customers, and communities safe and to help slow down the spread of the pandemic? What are they learning in the process?
We asked our marketing partners, Editorial Advisory Board members and “Innovation” Editor Richard Langley the questions below so that we could share their collective wisdom with you, our readers. The advertisers’ responses appear in alphabetical order by company, followed by the responses by EAB members.
We will continue to publish these responses here as we receive them; we will also publish a selection of them in the May print issue of GPS World.
Professor, Department of Geodesy and Geomatics Engineering,
University of New Brunswick, Fredericton, Canada
“Innovation” Editor and UNB Professor Richard Langley lectures to his students online. (Screenshot: Richard Langley/UNB)
On March 13, the president of the University of New Brunswick announced that as of the following day due to the Coronavirus-19 outbreak in the province of New Brunswick, all in-person classes would be suspended for the remained of the school term, and that starting March 23, classes would resume using alternative methods to support delivery outside the classroom. Faculty members like me had a week to find other ways to deliver our courses to the students. Some of us turned to pre-recorded video presentations and some, like me, to live class sessions using online video conferencing tools like Zoom and Microsoft Teams. I tried both but ended up using Teams on the advice of the university administration.
This term I was teaching GGE 3111: Introduction to Adjustment Calculus. Basically, it’s an introductory course on the mathematical technique of least-squares analysis. Least squares, where one seeks to find the minimum of the sum of the squares of the estimated errors in measurements, is a fundamental technique for analyzing data in many application areas in the sciences and engineering disciplines, including the processing of GNSS data. It was pioneered back in the early 1800s by Gauss, the great German mathematician and father of modern geodesy.
Incidentally, Kalman filtering also widely used for processing GNSS data, is essentially a recursive approach to the least-squares problem. The example I am doing on the board (see screenshot) is how to fit a straight line to data pairs x and y where both the x and y values contain random measurement errors. I have always taught GGE 3111 using the blackboard or, since lecturing from the dining room of my house by video link, a whiteboard.
I recorded my home-delivered lectures and provided these to the students through the Desire to Learn platform that UNB uses for teaching. Not all of the students could attend the live lectures as some had returned home to provinces with several hour time differences from New Brunswick making it inconvenient to attend a morning lecture. Others no longer had a good Internet connection to view real-time video.
The recordings also provided a useful resource to the students for reviewing the course material. When we eventually return to normality, I might continue to record my lectures. They could even form the basis of an online version of my course available to UNB students and non-students alike.
CAST Navigation has overcome many obstacles and challenges to be able to provide our customers with the products and services that are valuable to them during this difficult period. The company has instituted a set of strict policies and procedures that allow us to manage our facility hours and employee “distancing” practices.
We have also enabled employees to work remotely if necessary and we continue to work very closely with our vendor supply chain to minimize delays and impacts to our schedule. These policies and procedures, along with a very focused and devoted staff, have allowed us to continue to provide the superior quality products and services on which our customers rely.
Eos Positioning Systems’ employees are able to work remotely in most cases. In fact, prior to the pandemic, a number of full-time employees worked remotely across Canada, the United States, and the Asia/Pacific region. Now, we’ve transitioned all employees to remote working and transitioned the tasks of individuals whose routine work was directly affected by the virus. We’ve also added a weekly all-staff video Zoom meeting to address everything from company questions to individual wellbeing.
We were already grateful for our ecosystem of staff, partners, and customers, but everyone has shown their positive colors even more in response to this pandemic. Everyone remains responsive across platforms and time zones. The uptick in social media engagements of our customers and partners has been particularly great to see.
In addition, we’ve heard from some customers that they are using our GNSS receivers more during this time. Because our receivers are easy to use for the novice, office workers who would typically not do fieldwork are being trained on field work, which can be a naturally socially distanced, one-person job.
As expected, many of the events we enjoy sponsoring have been postponed or canceled. We’re working with event coordinators and our own team to ensure that when events start up again, we are prepared to go back to business as usual. We are really, truly looking forward to seeing our customers, partners, and colleagues in person again!
At GeoNumerics, we are all OK, including our families. As we are an R&D-intensive company focused on algorithms, software, and consultancy, we are lucky these days. Furthermore, some of our employees —women with young children — were already teleworking most of the time. Therefore, it was easy to extend this to the rest of the company.
Since mid-March, everyone is at his/her place teleworking. This enables us to:
keep the company running
keep our employees busy like in “normal” days
protect our customers by meeting deadlines
protect the economy by not stopping the business
on a case-by-case basis, help our providers/partners who had to stop their business.
Internally, we share a “good morning” short communication via WhatsApp and a daily 20 minute “virtual coffee break” after lunch via Skype.
Miguel Amor, Chief Marketing Officer, Autonomy & Positioning Division
Editorial Advisory Board Member
Miguel Armor
COVID-19 is affecting everyone on a global scale, which means that we all must work together to limit the spread of the virus and protect the people at risk. At Hexagon, our priority is keeping our employees and customers safe, and we are following all guidelines and recommendations set up at national, regional and local levels to do so.
Through all of this, we recognize that our employees and our customers are relying on Hexagon more than ever. Rest assured that we are taking all necessary steps to protect our employees and to minimize risk to the supply of our products and our services to our customers.
At Hexagon | NovAtel, we believe our size, reach, and position not only provide great opportunities but also carry great responsibilities. We understand that the GNSS community in general is relying on NovAtel more than ever and we are taking all the necessary steps to support the community and our customers.
Just like many of you, we at JAVAD GNSS are quickly and actively adapting to the changing times caused by the global COVID-19 pandemic. We recognize that JAVAD plays an important role in many of your operations and in supporting the critical missions of our customers. To that end, we are following best practices to curtail the spread of this virus and protect the well-being of our employees and partners, while ensuring we meet the commitments to you that you have come to expect.
Our primary message today is JAVAD GNSS is Open for Business! Our support team is here and ready to assist you as it always has. Please do not hesitate to contact us.
While there was a short pause in March when news broke in the U.S. about COVID, much of this now seems to be subsiding. At the same time, the value for instantly accessible aerial maps is more obvious than it ever was. As teams work from home and push to keep projects on track, the need for remote access to aerial photography remains strong at a time when travel and remote site inspection is lower than it ordinarily would be. Judging from very recent activity (all April 2020), there’s high interest from city government, engineering, construction, solar/energy and land development.
For Orolia, this crisis has highlighted the importance of the word “resilient.” As a leader in resilient positioning, navigation and timing (PNT) and as an essential business, we need a resilient organization that can keep delivering the critical solutions that our customers need. We can’t let our customers down because they support defense and critical infrastructure programs worldwide. Now more than ever, we recognize the essential nature of what we provide, and we must keep supporting our customers, even in times like this.
Orolia plays an essential role in the Defense Industrial Base (DIB) in the Critical Infrastructure Sector, as defined in the Department of Homeland Security (DHS) Memorandum on Identification of Essential Critical Infrastructure Workers During COVID-19 Response and the DHS Guidance on the Essential Critical Infrastructure Workforce: Ensuring Community and National Resilience in COVID-19 Response.
Many global companies need to continue operating as normally as possible to provide much needed capabilities in order to help governments, members of the armed forces and critical infrastructure to stay operational.
Our Supply Chain/Sourcing team conducts regular risk assessments to ensure that Orolia partners can continue to provide uninterrupted service by securing materials and products. Our service, support, business development. and engineering teams also remain ready to respond to requests.
We use Skype extensively, to keep in touch with our customers and partners but also for internal conference calls and meetings. There isn’t really a substitute for face-to-face meetings, but Skype is as close as you can get. In terms of communicating with our partners we have very much moved into the digital space. We have instead held webinars using WebEx which have been very well received. We have more planned so watch this space!
We have learned that we can work very well under pressure! With COVID-19 postponing some of our favorite shows we didn’t want to sit back and do nothing. We had to act very quickly and look at other ways of communicating our message. Not only have we as a business been agile enough to do this, despite working remotely, our channel partners have really taken on board what we’ve been trying to achieve and helped us exceed our goals.
Don’t use COVID-19 as an excuse to rest on your laurels. Take it as an opportunity to do some of the things that you otherwise wouldn’t have done.
To collaborate remotely, a safe distance from each other, we use video messaging (MS Teams) with team(s) daily, as well as Confluence (engineering documentation) and Jira (task management) for remote collaboration.
Much of our team is able to continue efficient operations while working remotely. Collaborating with our customers has always been a service we offer – which, we believe, leads to better product performance and reliability. This pandemic has pushed the majority of the country/world into remote working. While we aren’t able to be in person with customers, accessible remote tools and collaboration help us continue to provide hands-on customer service, without actually using our hands.
Parker LORD designs and produces MicroStrain inertial sensors that are used in robots that aid in delivery, mapping, and surveillance activities. Our inertial measurement units (IMU) and inertial navigation systems (INS) are designed to allow quick time-to-market development. We offer IMU/INS integration with our recently updated Robot Operating System (ROS) drivers for ease of use. By using our sensors, we have reduced development time while also offering top performance and competitive pricing. There are different levels of inertial sensors based on the performances available depending on the application being used.
As the need for measurement and navigation solutions increase with the demand for delivery, safety and automated robotic monitoring, our new 3DMGQ7-GNSS/INS dual antenna RTK-enabled INS provides next level performance with integrated custom IMU, dual integrated RTK-capable multi-constellation GNSS receivers, integrated barometric pressure sensor, and magnetometer. Beyond the integrated sensors the GQ7 offers hardware support for wheel odometry and API support for external velocity sensor measurements. This sensor has been designed for use in markets such as beyond visual line of sight (BVLOS) unmanned aerial vehicles (UAV), unmanned vehicle navigation, legged robots, and autonomous vehicles. It’s an all-in-one system solution (GNSS-INS + RTK + SensorCloud RTK).
Get ready for the robot revolution. There was momentum in that direction before, in areas such as delivery, recon and mapping. Acceptance of these technologies will only increase now and in the future.
Racelogic, the company behind LabSat GNSS simulators, is based in Buckingham, UK. Like many companies, we are adjusting to new ways of working and remote collaboration. With the majority of our 100 staff now working from home, I have few concerns about their ability to adapt and am confident that the outcome will be one of success. However, I am also aware that the paths taken over the coming weeks or months are unlikely to be without a few bumps in the road.
I am hearing reports from all corners of Racelogic about how staff are dealing with these unprecedented circumstances. For example, Katie Harland, our LabSat Support and Applications Technician, is continuing to support our customers from home. However, without a rooftop antenna on her building she has had to be a little inventive about how she gains a live satellite feed to record test scenarios. Her solution was to mount an antenna on a ground plate devised from the lid of a biscuit tin and set it on her garden wall. An effective solution, but one that is not straight forward when you are 5’2” and the garden wall is 7’ tall.
I am also noticing changes to what a “normal” day at work now looks like. With so many staff working remotely I find myself walking through the office and instead of checking on project progress I am rebooting computers, connecting equipment, accessing server files, and generally servicing those who are working remotely. I think it is easy to fall into the trap of obsessing about perfecting remote working. I don’t think you can go too far wrong if you focus on the things you can do, even if you need a ladder to get there.
During these challenging times, Septentrio continues to be operational and to serve its customers. We have taken measures to ensure health and safety within the company. Most of my colleagues and I are working from home, while manufacturing has been divided into two shifts to guarantee continuity and provide the safest possible working conditions. Although international travel is suspended for the moment, we continue to have regular meetings via phone or web with our partners, customers and prospective clients.
This virus is forcing us to rethink the way we work and interact. As we adjust to the new situation, we are finding ways to continue working with as little disruption as possible, leveraging the efficient communication networks and remote-control solutions available to us today. Along the way we might even discover new more efficient and environmentally friendly ways of working.
In addition to ensuring employee safety, Septentrio is also dedicated to help fight the virus by providing reliable high-accuracy positioning solutions to technologies that are making a difference. For example, aerial drones have been used by police in Europe to announce new government regulations in public places and to scope out large areas for public gatherings. To ensure public safety it is vital that the sensors aboard these aerial drones, such as their positioning receivers, are robust and reliable even in challenging conditions.
Other delivery drones such as Zipline and Wing are expected to ramp up speed with the increase of automation required to fight the coronavirus. In the European Union and the United States regulations around drone use are stricter than in China and thus the full potential of drones is not yet realized to its maximum.
Since our inception, a few of our employees have worked from home due to traffic issues, work/home responsibilities, or simply geographical location issues. Over the years, we decided as a company not only that this was working very well, but that everyone who could work from home should be allowed to have the same privileges. In the past two years, we have allowed everyone to work from home, only requiring to come into the company offices those who must be in a lab or for security reasons. Everyone has a laptop computer and remote access to files. We use Zoom, email, and cell phones to communicate with each other and our customers.
When the recommendations from the CDC and the President of the United States were issued to work from home, we were already doing this, so there were no adjustments needed. Those that must work in the lab are practicing social distancing and working on alternate days in some cases.
When we first contacted our customers to attempt visits, we were told that they were not receiving visitors and that it was going to take a few days or weeks to get everyone outfitted with laptops and other technology to continue working from home. We were a bit surprised to learn that others were going through this as we were not having any of these issues.
This crisis has taught us that being prepared and trusting our team to work independently pays off when we really need it. Everyone is being a little extra patient, kind, and understanding. We are seeing this general compassion outside of the office as well and we hope that this has a lasting effect on the world.
Jackie Ferreira, Director of Corporate Communications
Jackie Ferreira, Topcon
We are fortunate in that our team is well-versed in online collaboration software, including teleconferencing and online digital asset management systems. We are leveraging tools such as those to keep productive in this crisis.
We are working very well together via safe distancing practices. Our employees around the world are staying active with ongoing conference calls across multiple time zones. Our primary concern is the health and safety of everyone we interact with and we continue to be impressed with how all involved have responded.
Topcon operates with a primary goal of the health and safety of its employees, customers, and suppliers and in accordance with applicable state and local orders, including social distancing requirements. To this end, we provide on-going guidance from the World Health Organization (WHO) and Center for Disease Control (CDC) to our employees to support their health in these critical times.
We encourage compliance with applicable governmental orders concerning their ability to continue to operate, with the understanding of roles within the critical infrastructure supply chain.
We are dedicated to supporting our customers at this critical time and have specific teams working to meet demands to the best of our ability.
Our relationships with our customers and partners are important to us. Topcon strives to work closely together with our partners to protect the industries we serve and accelerate the economic recovery needed in light of the current world crisis. Together we can serve as a beacon of cooperation and commitment to successfully weather these unusual times.
The outbreak of COVID-19 started around the Spring Festival, and strict control measures to stop the spread of the virus were taken even before the holiday ended. Unicore postponed the return-to-job date by one week and encouraged working from home, except for the key R&D and ST engineers, who cannot perform verification, testing, or debugging outside the labs. However, even then strict social distancing measures were guaranteed. As of February 10, Unicore’s return-to-work rate was more than 80%, with nearly 40% of the employees doing it from the office, while now nearly 90% of Unicore’s labor force is back to normal working mode. Thanks to the 4G networks, fast mobile and Web communications, as well as cloud computing technologies, we were able to easily organize video conferencing, online meetings and group messaging.
Our R&D and product delivery were slightly affected by the COVID-19 due to the delays at some supply plants. However, Unicore has a well-run and organized inventory management system, so most of the orders can be fulfilled on time.
Some of Unicore’s clients use drones to perform disinfectant spraying and logistics transportation, which help to ensure an uninterrupted supply of food and goods. Other clients make intelligent and autonomous sweepers that reduce the need for manual labor and keep the workers safely at home. In order to avoid personal injury, infection and transmission in epidemic areas, drones and/or unmanned vehicles with GNSS high-precision positioning technology have been used for cleaning and disinfection, supplies delivery, and aerial photography in engineering construction.
On Sept. 19, in conjunction with the ION GNSS+ conference, GPS World hosted its annual Leadership Awards dinner. Five honorees — chosen by a panel of GNSS experts — were recognized for their outstanding recent contribution or achievement in four categories: Satellites, Signals, Services and Products.
SATELLITES AWARD: Presented by Johnathan Caldwell (left) to Mark Crews, both of Lockheed Martin. Crews accepted on behalf of Tim Hartman. (Photo: GPS World)
Satellites Award
TIM HARTMAN: Satellites Award winner
Tim Hartman, Chief Engineer, Military Space Programs, Lockheed Martin
Hartman was recognized for serving as the program manager for GPS IIRM and GPS III Space Segments. Tim’s leadership and program dedication helped support the U.S. Air Force’s decision to declare GPS III ready for launch on Oct. 17, 2017.
On Aug. 22, Lockheed Martin Space celebrated the successful launch of the second of up to 32 next-generation GPS III/IIIF satellites that the U.S. Air Force contracted the company to design and build. Lockheed Martin’s commitment to positioning, navigation and timing can be found in the exemplary performance of the 18 Lockheed Martin-built GPS IIR and IIRM satellites that are a proud part of today’s 31-satellite GPS constellation. The company also is proud to support the Air Force with its continued sustainment of the current GPS Operational Control Segment.
SIGNALS AWARD: Presented by Joe Rolli of L3Harris (left) to Ramsey Faragher. (Photo: GPS World)
Signals Award
Ramsey Faragher, Founder and CEO, Focal Point Positioning
Focal Point Positioning’s new supercorrelator approach to indoor and urban GNSS signal processing could revolutionize smartphone-based GNSS. New signal processing methods for the correlation stage of a GNSS receiver enable several seconds of coherent integration while the receiver is undergoing dynamic motions. This improves accuracy and integrity, and provides anti-spoofing and spoofer-localization capabilities — without hardware changes or requiring access to encrypted signals.
L3Harris Technologies is an agile global aerospace and defense technology innovator, delivering end-to-end solutions that meet customers’ mission-critical needs. The company provides advanced defense and commercial technologies across air, land, sea, space and cyber domains. L3Harris has approximately $17 billion in annual revenue and 50,000 employees, with customers in 130 countries.
SERVICES AWARD: Presented by Mike Shepherd of Collins Aerospace (back) to Simon Banville (front left) and Denis Laurichesse. (Photo: GPS World)
Services Award
Denis Laurichesse, Navigation Systems Department Expert, Centre National d’Études Spatiales (CNES)
Simon Banville, Senior Geodetic Engineer, Natural Resources Canada (NRCan)
Laurichesse and Banville demonstrated instantaneous, centimeter-level, multi-frequency precise point positioning (PPP). Their work shows PPP might become, within a few years, a practical alternative to real-time kinematic (RTK) for a wide range of applications.
Collins Aerospace Systems, a unit of United Technologies Corp., is a leader in technologically advanced and intelligent solutions for the global aerospace and defense industry. Created in 2018 by bringing together UTC Aerospace Systems and Rockwell Collins, Collins Aerospace has the capabilities, comprehensive portfolio and expertise to solve customers’ toughest challenges and meet the demands of a rapidly evolving global market.
PRODUCTS AWARD: Accepted by Paul Alves (left) from presenter Jeff Martin of Spirent Federal Systems. (Photo: GPS World)
Products Award
Paul Alves, P.Eng, Ph.D., Technology Manager — Correction Services, NovAtel, part of Hexagon
Alves was recognized for his work on localization of interference sources for GNSS users leveraging the Interference Tool Kit. With the ITK, users can detect and mitigate adversarial jamming of GNSS signals, as well as unintentional interference from external sources.
Spirent has more than 30 years of experience delivering the world’s best test equipment. Spirent’s test solutions for GPS and GNSS, critical infrastructure SCADA vulnerabilities, Internet L3-L7 common vulnerabilities and exposures, and mobile vulnerabilities allow the world to communicate and collaborate faster. Spirent Federal Systems is a wholly owned subsidiary of Spirent Communications and was established to offer the world’s leading simulation equipment to U.S. government customers, armed services, education institutions, and prime contractors. Spirent Federal’s SimMNSA was the first to be granted Security Approval by the Global Positioning System Directorate.
PNT CHAMPS: The L3Harris team earned the most total points in all six games, and took home a trophy each. (Photo: GPS World)
PNT Games
After dinner, guests broke into teams to test their personal positioning, navigation and timing skills, precisely determined by their ability to toss rings and throw horseshoes under time pressure. Each team rotated through yard games such as ladder toss, ring toss, corn hole and horseshoes to prove who was the most accurate and resilient. The L3Harris team took home the first-place prize.
RAINBOW CONNECTION: Taking on giant pong are members of the rainbow bandana team, (from left) Sanjeev Gunawardena, Thomas Pany, Steffen Thoelert and André Hauschild. (Photo: GPS World)ORGANIZED CHAOS: Wearing different-colored bandanas, teams cheer on their team members and fight for every point. (Photo: GPS World)After all the awards were given, everyone got together for a memorable group photo. (Photo: GPS World)
The CAST-5000 produces a single coherent wavefront of GPS RF signals to provide repeatable testing in the laboratory environment or anechoic chamber. The basic system generates four independent, coherent simulations that reference a single point and is upgradeable to support seven elements for CRPA testing. With an intercard carrier- phase error of less than 1 millimeter, the CAST-5000 is extremely accurate.
The system generates a wavefront of GPS when its GPS RF generator cards are operated in a ganged configuration. Each generator card provides a set of GPS satellites coherent with the overall configuration. Several RF generator cards may be utilized together, ensuring phase coherence among the bank of signal generator cards.
The CAST-5000 Controlled Reception Pattern Antenna (CRPA) tester allows a full end-to-end test of the antenna system. The CRPA antenna, antenna electronics and the GPS receiver can be tested as a unit with or without radiating signals.
The CAST-8000 is a new simulator that merges both the CAST-5000 CRPA tester with a CAST-3000 EGI tester.
The tiny 1-inch square Micro-Transcoder module allows glueless retrofitting of existing GPS equipment with secure and Assured-PNT (A-PNT) capability. It is the smallest, full-constellation, stand-alone, real-time 10-channel GPS simulator available from JLT. The unit is useful in upgrading existing legacy GPS receivers with external position, navigation and timing references such as INS, CSAC, SAASM, M-code, GNSS, eLoran or other alternative positioning and timing sources by simply replacing the legacy GPS antenna from an existing GPS system with the Micro-Transcoder RF output.
The unit is based on the JLT CLAW GPS Simulator and RSR Transcoder technologies, and includes a general-purpose, stand-alone, full-constellation, 10-channel, real-time GPS simulator with integrated high-stability timing reference, as well as an internal GNSS receiver for monitoring the RF output signal for quality and accuracy. The unit will transmit a standard UTC time, position, velocity and heading GPS L1 C/A RF signal by simply applying 3.3V power to it.
The Micro-Transcoder can also be operated as a generic GPS simulator with built-in GPS Disciplined Oscillator (GPSDO), and is supported by a free Windows application downloadable from the JLT website. The Windows application allows control of all the simulation aspects, creating and storing simulation vector commands and testing user equipment for leap-second and GPS week rollover event compatibility to identify weaknesses in user equipment. The unit does not require a connected PC to function. The Micro-Transcoder is also available mounted onto an evaluation board for easy evaluation. The unit transcodes baseband PNT NMEA signals into a GPS L1 RF signal with typically less than 100-ms latency. UTC 1PPS timing-transfer accuracy to the GPS RF output is typically better than 5 ns. The unit requires only 3.3V to operate, and setup, location and simulation vector file information can optionally be stored in its internal NV memory.
For those responsible for mission-critical PNT applications, the Orolia GSG series of GPS/GNSS simulators is an important tool to evaluate risk for jamming, spoofing or any other threat. Orolia GSG-5/6 series simulators are easy to use, feature-rich and affordable, offering a way to harden GPS-based systems without the limitations of testing from “live sky” signals. The Orolia platform approach allows customers to buy only what they need today and upgrade later. The adaptability of the GNSS RF generation platform can extend to applications for intelligent repeating.
Test Solutions
Position accuracy and dynamic range/sensitivity
Simulate movements/trajectories anywhere on or above Earth
Sensitivity to GPS impairments: loss of satellites, multipath, atmospheric conditions, interference, jamming and spoofing
Conducted or over-the-air RF
GPS time-transfer accuracy
Effect of leap-second transition
Multi-constellation testing
Modernization signals/frequencies
Keyless military SAASM, dual-frequency and survey-grade receiver testing
Infrastructure possibilities include zone-based indoor location (intelligent repeating) and pseudolite applications.
GSG-6 Series 64-channel multi-frequency, advanced GNSS simulator is powerful enough for any cutting-edge test program. GPS, GLONASS, Galileo, Beidou, QZSS and NAVIC (IRNSS) signals are available across multiple frequencies. The GSG-6 is designed for military, research and professional applications.
GSG-5 Series 16-channel multi-constellation L1-band GNSS simulator is designed for commercial development/integration programs. It is for developing commercial products with GNSS capability, and will shorten test programs with confidence.
GSG-51 single-channel signal generator is designed for one purpose — fast, simple go/no-go manufacturing test and validation, ensuring the manufacturing line is operating at full capacity with confidence in quality.
Specifically designed for testing GNSS interferences and cyber-attacks. QA707 has been designed to test robustness against emerging cyber-threats beyond jamming and spoofing. It allows the creation of scenarios with signal and code jamming, data-level cyber-attacks, denial of service threats, low-level spoofing channels control, and trajectory-controlled spoofing.
Optimal for signal modernization design. Being a flexible software defined radio (SDR) solution, QA707 is also suitable for testing of signal modernization and for the simulation of new signal components. An open API is provided to create specific signals simulation. Particularly, the tool is ready to support the upcoming Galileo Open Service Authentication (OSNMA).
Runs on a standard PC or laptop with USRP or other hardware. QA707 is compatible with several third-party hardware RF up-converters, including National Instruments’ USRP. It also can support customer’s specific hardware through the hardware API interface. Qascom introduces the new frontier of GNSS security testing. QA707 is supported from back office with custom services as well as jamming and spoofing mitigation solutions for receivers and applications. This covers 100% of customer GNSS security needs.
QA707 Main Features
Multi-constellation (GPS L1, Galileo E1, SBAS L1)
Galileo OSNMA ready
RF simulation, binary file dump, signal record and replay
Support to SDR platforms and open API for custom RF upconverters
The LabSat 3 Wideband is easy to use, cost-effective and produces extremely low noise, accurate and repeatable signals. Users can record and replay up to three different channels at 56 MHz with a bit depth of up to 3 bits I and 3 bits Q.
The following signals can be recorded and replayed:
2X CAN, RS232, and digital inputs recorded and replayed tightly synchronized with GNSS data
Small, battery or mains powered and with a removable SSD (up to 4 Tb), LabSat 3 Wideband allows detailed, real-world satellite data to be recorded then replayed on the bench. The rugged enclosure measures a compact 167 x 128 x 46 millimeters and weighs 1.2 kilograms, meaning it can be placed in a backpack and used to reliably record real-world signals in almost any situation.
SatGen Signal Simulation Software
If a user wants to simulate the signals from scratch, Racelogic’s latest SatGen signal simulation software can produce synthesized scenarios containing the full complement of popular GNSS signals: GPS L1, L2C, L5, GLONASS L1, L2, Galileo E1, E5, E6 and BeiDou B1, B2.
SatGen software allows users to quickly create accurate scenarios with their own time, place and trajectory, with any combination of constellation and signal that is currently available or will become available in the near future.
Precision-sensitive applications such as autonomous driving, control of unmanned aerial vehicles (UAV), or positioning of aircrafts during landing procedures in coordination with ground-based augmentation systems (GBAS) require that modern GNSS receivers undergo detailed tests before implementation.
Designed to generate highly realistic test scenarios, Rohde & Schwarz signal generators like the R&S SMW200A and the R&S SMBV100B offer a unique approach to generating complex and highly realistic scenarios for testing of GNSS receivers that are able to work with diverse navigational systems such as GPS, GLONASS, Galileo, BeiDou and QZSS/SBAS signals. The R&S SMW200A and the R&S SMBV100B can emulate them all for testing.
R&S SMW200A
The R&S SMW200A GNSS simulator (pictured above) can be used to produce complex interference scenarios with multiple interferers — all generated within the instrument itself. It can emulate up to 144 GNSS channels and can be equipped with up to four RF outputs. With its ability to simulate multi-constellation, multi-frequency, multi-antenna and multi-vehicle scenarios, the R&S SMW200A is able to cover a variety of high-end GNSS applications.
R&S SMBV100B
The R&S SMBV100B supports the same navigational systems, with access to 24 GNSS channels and one RF output, with the same ability to configure realistic scenarios including obscuration, multipath and atmospheric effects, as well as the specific characteristics of the antenna and the simulated vehicle. An integrated noise and CW interference generator can also be added.
Since the devices do not require an external PC for scenario configuration, all the tests can be created quickly through the user-friendly GUI. Due to all-encompassing instrument options available, both simulators can be set up to fit unique user requirements.
For testing GNSS receivers under controlled and repeatable conditions, the R&S SMW200A and the R&S SMBV100B provide extensive and cost-effective solutions. The platforms are ready to adapt to future requirements and testing of newly implemented GNSS signals.
SDX is a proven and advanced GNSS simulator based on GPU-accelerated computing and software-defined radio (SDR).
It is available as a complete turnkey system suitable for all GNSS simulation needs, including everything from compact test benches to complete CRPA test systems, such as SDX wavefront and SDX anechoic. Moreover, its software-defined roots enable the selection of cost-effective hardware into configurations that can be repurposed for different projects.
The architecture behind SDX provides real-time simulation of uncompromising accuracy. It features advanced signal customization and supports configurable outputs. IQ data can be generated in, or imported back into, the simulator as well. The API is embedded in the simulator core, enabling deep automation with a few simple clicks, as well as complex scripts developed with popular programming languages.
SDX simulates multiple constellations on multiple frequencies (GPS, Galileo, GLONASS, BeiDou and SBAS) on a large number of channels. Encrypted codes are supported for GPS and Galileo.
The Advanced Jammer module in SDX gives users complete control over interference creation. It is integrated directly into simulation scenarios to enable dynamic jammers (up to 120dB J/S) to interact with GNSS signals.
SDX also allows users to create advanced scenarios suitable for any type of vehicle: antenna patterns (receiver and GNSS SV), LEO/GEO/HEO orbits, multipath, hardware-in-the-loop (HIL), additive pseudorange errors, message modification and corruption, raw logging and more.
It is suitable for the design and validation of GNSS receivers, complex integration, academic research, NAVWAR and test engineering.
SDX is developed and actively supported by Skydel’s engineering teams and worldwide distributors. Skydel offers direct support to clients to ensure prompt deployment and integration, or to review advanced customization requirements.
GSS9000, SIMMNSA, CRPA Test System, anechoic chamber testing, mid-range testing
Photo: Spirent
Spirent Federal provides GPS/GNSS test equipment that covers all applications, including research and development, integration/verification, and production testing.
GSS9000. The Spirent GSS9000 Multi-Frequency, Multi-GNSS RF Constellation Simulator is Spirent’s most comprehensive simulation solution. It can simulate signals from all GNSS and regional navigation systems and has a system iteration rate (SIR) of 1000 Hz (1 ms), enabling higher dynamic simulations with more accuracy and fidelity. The GSS9000 supports restricted/classified signals. Users can evaluate the resilience of navigation systems to interference and spoofing attacks, and have the flexibility to reconfigure constellations, channels, and frequencies between test runs or test cases.
SimMNSA. SimMNSA allows authorized users to simulate true M-code for the first time ever. SimMNSA has been successfully delivered to users of the GSS9000 series simulator. SimMNSA has been granted Security Approval by the Global Positioning System Directorate.
CRPA Test System. Spirent’s Controlled Reception Pattern Antenna (CRPA) Test System generates both GNSS and interference signals. Users can control multiple antenna elements. Null-steering and space/time adaptive CRPA testing are both supported by this comprehensive approach.
Anechoic Chamber Testing. Spirent’s GSS9790 Multi-Output, Multi-GNSS RF Constellation Wave-Front Simulator System is a development of the GSS9000. The GSS9790 is a unique solution providing the core element for GNSS applications that require a test system that can be used in both conducted (lab) and radiated (chamber) conditions.
Mid-Range Solutions. Spirent also offers solutions that cater to intermediate GPS/GNSS testing needs. The GSS7000 multi-constellation simulator provides an easy-to-use solution for GNSS testing that can grow with users’ requirements. The GSS6450 RF record & playback system enables replay of a real-world GNSS/GPS test repeatedly in the lab.
A scalable software-defined simulation platform powered by Skydel’s SDX, capable of generating high-fidelity GNSS and jamming signals simultaneously across multiple constellations and vehicles. Simultaneously simulate every signal below:
BroadSim’s software-defined platform includes intuitive user control and APIs; fast development cycles; flexible licensing and upgradability; and no additional hardware needed to maintain.
Forms
Original (4U)
Rack-mounted 4U simulator used for lab or field testing
4 RF outputs (unlimited jamming signals generated on 1)
1000-Hz simulation iteration rate
High-performance processor, GPUs and memory
Anechoic
Simulation system used for anechoic chamber testing
32 RF outputs and 16 dual-frequency antennas
Automatic antenna mapping
Automatic time delay and power loss calibration
Wavefront
Phase coherent simulation system
Real-time automated phase calibration
Scalable from 4 to 16 elements
Supports CRPA and multi-element receiver testing
Supports jamming and spoofing
Panacea
An automated PNT performance and vulnerability test suite that supports up to 32 UUTs (units under test) in real time, from test plan creation to post-test evaluation.
Time synchronization to live sky
Compatible with 100+ different GNSS receiver brands
Create dynamic scenarios with parameters such as jamming patterns, motions, power loss, delays and more.
Manages receiver communication and standardizes data output for easy analysis, visualization and reporting
Spirent Federal Systems, provider of GPS/GNSS test equipment, has announced that its new M-code solution, SimMNSA, has been granted security approval by the Global Positioning System Directorate.
Spirent Federal is the first company to provide such a solution for simulating classified GPS signals, and is currently taking orders, the company said.
The GSS9000 simulator. (Photo: Spirent)
In 2017, Spirent Federal Systems partnered with Rockwell Collins to develop new software that will use the Modernized Navstar Security Algorithm (MNSA). This new approach of M-code simulation adds to Spirent Federal’s portfolio of classified signal simulation solutions, and will be available to authorized users of the GSS9000 series simulators.
“With the increased focus on M-code by the GPS Directorate, we are pleased that our team has paved the way in the development of SimMNSA,” said Ellen Hall, CEO of Spirent Federal Systems. “It was a great challenge to get to this point, but we are excited about what we have accomplished.”
The new test solution continues Spirent Federal Systems history of innovation and being first to market with M-code simulation software, the company said. Spirent’s GPS/GNSS solutions have supported numerous government, military and U.S. Department of Defense programs for more than 30 years.
During the GPS World Leadership Awards dinner, Spirent Federal’s Justin Eldredge presented John Raquet, professor at the Air Force Institute of Technology, with the Services Award.
An Air Force professor was honored for years of work exploring every PNT technology imaginable in conjunction with GPS; Rockwell Collins launched a new MicroSTRIKE multi-GNSS chip for military and professional applications, available globally on a non-ITAR basis; and Spirent Federal previewed its SimMNSA, a new M-code simulation option delivering to authorized customers by the end of the year.
John Raquet, AFIT, accepts 2018 Leadership Award for Services from Justin Eldredge, Spirent Federal. (Photo: Melanie Beus)
John Raquet, a professor in the Department of Electrical and Computer Engineering at the Air Force Institute of Technology, received the 2018 Leadership Award for Services. Raquet was recognized for work he and his team at the Autonomy & Navigation Technology (ANT) Center developed on PNT sensors and systems utilizing almost every available source, including GPS, GNSS, inertial, vision, lidar, magnetic field, pseudolites, radar, terrain mapping, signals of opportunity, star trackers, radio ranging, 3D audio, X-ray pulsars, clocks, and more.
Raquet has co-authored many defense-oriented technical papers over the past three decades. See the list at the end of this article for some of the most recent ones.
Justin Eldredge from Spirent Federal introduced Raquet and bestowed the award, after updating the audience on Spirent’s most recent advance: “This year we maintain our position of being first to market with new signals, with the launch of SimMNSA. We’re currently in the final test phase of this new M-code option and it will delivering to several authorized customers by the end of the year. If M-code signals aren’t in the spectrum of testing for you, we offer products that simulate all other GNSS signals, plus a variety of other sensors.”
SimMNSA was demo’d at the Spirent Federal Systems booth at the neighboring ION GNSS+ conference. A video presentation of SimMNSA (for Modernized Navstar Security Algorithm) is available here. Spirent’s new software will support M-code using MNSA. M-code is an updated GPS military signal that is being rolled out as part of the modernization of the current GPS constellation. Until now, AES and SDS have been the only methods authorized to be used within a GNSS simulator to produce M-code. As the long-awaited MNSA M-code signals become available, Spirent Federal Systems will make this capability available to authorized users on the GSS9000 series simulator.
ANT
After receiving the 2018 Leadership Award, Raquet spoke about his work at theAutonomy & Navigation Technology Center. “Sometimes I called the ANT the Crazy Idea Factory. We’ve tried lots and lots of things. I think I have the best job in the world, because I get to experiment with many, many things, and work with amazing people.”
John Raquet, U.S. Air Force Institute of Technology (Photo: Melanie Beus)
“This is not the kind of community where you build something once and you’re done, you put it away. This is a growing worldwide enterprise that takes new talent to come in and fill the spots that many of the people in this room have occupied. I’m privileged to see some of the students that we’ve worked with to then go on and fill some of the gaps, really do some amazing things.”
MicroSTRIKE, a non-ITAR GPS chip
Two awards prior to Raquet’s Services award, Phil Froom from Rockwell Collins, UK, spoke about an innovative venture from Rockwell and partners QinetiQ UK as he bestowed the Satellites award.
“For many years most of you here this evening will have known Rockwell Collins as a reliable partner in the delivery of Secure (encrypted) GPS receiver, and indeed, we are still the largest producer of encrypted military GPS solutions in the world. Our partners QinetiQ also have great expertise in the design and delivery of high assurance low SWAP GPS receivers, bringing together many years of expertise of our two companies in this new venture.
Phil Froom, business development lead for Rockwell Collins, Europe, Middle East and Asia (Photo: Melanie Beus)
“However, over the past few years we have seen our military and professional (government) users looking to greater flexibility in their use of GNSS, as new capabilities and constellations come on line. But with that flexibility, a retention of assurance and where possible, mitigation of threats. For this reason, last May, Rockwell Collins and QinetiQ signed an Alliance Agreement in London, to produce a new family of high-assurance, multi-constellation GNSS receivers for professional and military use.
“This new family of receivers is aimed to be complementary to the current encrypted family of Rockwell Collins receivers in service across the globe, but allow the customer to select his level of capability and protection based upon his operational, political or even financial needs. The new “MICRO” family of GNSS receivers will offer a multi-constellation open service (MCOS) GNSS capability, which will initially provide two receivers; the first, to be known as the Q40-MicroPNT, will address dismounted low dynamics requirements, and the second, the Q40-MicroSTRIKE, will be a gun hard, high dynamics receiver.
“You will note I said they are MCOS receivers. Therefore, they will not include an encryption device, will be Non-ITAR and will actually be produced in Europe, under the control of Rockwell Collins UK. QinetiQ are today working on the Q40 ASIC and, once available, this will be incorporated into these first two Micro Family receivers.
“These receivers will be of a common format to our existing and highly successful SAASM based MicroGRAM receivers and will offer users and OEMs the ability to select an MCOS receiver, or a SAASM (or ultimately M-Code) receiver, of a common form – factor, to meet their mission or platform needs. Thus allowing OEMs to reduce costs in integrating different form-factors, and to allow users to hold common hardware, but mounting mission specific receivers.
“We are of course extremely excited about this Alliance with QinetiQ and equally by the prospect of what it will bring to our existing and future users as we all move forward into this new era of GNSS capability.”
Check out videos from the event below. Click on the icon in the top left hand corner to choose which video you’d like to watch.
Recent technical papers co-authored by John Raquet.
• “Magnetic field navigation in an indoor environment,” Ubiquitous Positioning Indoor Navigation and Location Based Service, (Aiding an inertial navigation system when GNSS signals are not available, by taking advantage of the uniqueness of magnetic field variations);
• “Comparison of two image and inertial sensor fusion techniques for navigation in unmapped environments,” IEEE Transactions on Aerospace and Electronic Systems, (navigation of miniature aerial vehicles (MAVs) couplimng information from an IMU with visual information from an electro-optical camera);
• “Real-time UWB-OFDM radar-based navigation in unknown terrain,” IEEE Transactions on Aerospace and Electronic Systems (a signal processing algorithm and simulation study for aerial navigation with an ultrawideband orthogonal frequency division multiplexed (UWB-OFDM) radar in GPS-denied environments;
• “Navigation in GPS denied environments: Feature-aided inertial systems,” Air Force Research Lab, Eglin AFB FL Munitions Directorate (latest alt-nav trends for navigating in difficult urban, indoor, and underground environments where typical GPS receivers do not function;
• “Coded aperture aided navigation and geolocation systems,” US Patent office #8577539 (A micro air vehicle having a navigation system with a single camera to determine position and attitude of the vehicle using changes the direction to the observed features);
• “Multisensor navigation systems: A remedy for GNSS vulnerabilities?” Proceedings of the IEEE (A multisensor navigation approach to GNSS-challenged environments using inertial measurement units (IMUs), barometers, magnetometers, odometers, and digital compasses);
• “Large scale image aided navigation,” IEEE Transactions on Aerospace and Electronic Systems (images from an airborne camera match features against a reference image to compute global position);
• and many more.
The UM442 can simultaneously track GPS, BDS, GLONASS and Galileo. It also supports SBAS and QZSS. It uses Uncore’s new-generation Nebulas II chip and UGypsophila real-time kinematic (RTK) algorithm. Based on high-performance data-sharing technology and the simplified operation system of the Nebulas II chip, the UGypsophila RTK algorithm dramatically optimizes matrix processing, enabling the UM442 to track more satellites and shorten the initialization time to 5 seconds.
The MV5-AR inertial sensors are designed for off-highway and military vehicles, marine and mobile robot applications, and the autonomous vehicle market. The rugged, compact sensors use LORD’s fifth-generation high-performance industrial-grade solid-state six-degrees-of-freedom (6-DOF) micro-electromechanical accelerometer and gyro inertial sensor technology. Successfully deployed on ground robots and heavy machinery, applications also include autosteer and terrain compensation; dynamic incline detection (roll, pitch, rotation); vehicle stability and leveling; platform control, alignment and stabilization; operator feedback; and precision navigation. The compact and rugged reinforced housing is fully sealed for immersion and pressure wash. Each sensor is calibrated and temperature compensated.
BeiDou Phase 3 signals are now available on Spirent GNSS RF constellation simulators GSS7000 and GSS9000 — existing users can obtain the software upgrade by contacting Spirent. Phase 3 of the Chinese BeiDou system will extend its coverage from Asia to the entire world, providing receiver developers and integrators with additional GNSS signals to make positioning, navigation and timing systems more accurate, and help to support new applications, such as autonomous vehicles. Customers can test their designs before the system is fully operational in 2020.
The ZED-F9P multi-band GNSS module has integrated multi-band real-time kinematic (RTK) technology for machine control, ground robotic vehicles and high-precision unmanned aerial vehicles applications. It measures 22 x 17 x 2.4 millimeters and uses technology from the u‑blox F9 platform to deliver robust high-precision positioning performance in seconds. The ZED-F9P is a mass-market multi-band receiver that concurrently uses GNSS signals from all four GNSS constellations (GPS, GLONASS, Galileo and BeiDou). Combining GNSS signals from multiple frequency bands (L1/L2/L5) and RTK technology lets the ZED‑F9P achieve centimeter-level accuracy in seconds.
The SA.45s Commercial Space Chip-Scale Atomic Clock (CSAC) is a commercially available radiation-tolerant CSAC suitable for low Earth orbit (LEO) applications. The device provides the accuracy and stability of atomic clock technology while achieving significant breakthroughs in reduced size, weight and power consumption. It provides excellent drift performance and built-in 1 pulse per second (PPS) input for GPS disciplining, making the device well-suited for holdover applications. Commercial and research space applications include satellite timing and frequency control; satellite cross linking; assured position, navigation and timing; and Earth observation.
The long-range, power-efficient eRadio is designed to support high-precision GNSS real-time kinematic (RTK) applications in surveying and precision agriculture. It is enabled with intelligent serial baud rate identification for different RTK devices. It can automatically identify RTK serial baud rate with a radio data cable and provide a plug-and-play form for easy connection between the eRadio and RTK. With its high transmitting power (5-35 Watts), transmission data can be up to 19200 bps/s over a connection distance of 50–80 kilometers. It can work as either a base or repeater with other Harxon radio modems in challenging environments.
Wireless communication with any Android or Windows terminal
Image: SXblue/Geneq
The SXblue Premier GNSS receiver is available in a submetric version (GNSS) or centimetric version (RTK). It is equipped with Pacific Crest Maxwell 6 Trimble technology with BD910 (GNSS version) and BD930 (RTK version) OEM boards, delivering 220 channels to acquire and track GNSS signals from all constellations in view. It makes effective use of GPS, GLONASS, Galileo, BeiDou, QZSS and SBAS signals for precise positioning.
The single-frequency, multi-GNSS Vector V123 and V133 all-in-one smart antennas are multi-GNSS compass systems using GPS, GLONASS, BeiDou, Galileo and QZSS for simultaneous tracking for heading, position, heave, pitch and roll. Both support NMEA 0183 and NMEA 2000. The V123 and V133 thrive in radar/ARPA, AIS, ECDIS, side-scan survey, multi- and single-beam surveys, dredging and general navigation applications.
The Trak4 provides GPS tracking with cell-trilateration fallback. Ping rates can be selected from every two minutes to once a day, with email and text alerts provided for geozone entry and exit or if the high-capacity rechargable battery is low (the battery runs up to 12 months on a single charge.) The Trak4 is designed for tracking vehicles, assets and inventory; it can also be used to track people such as the elderly. Indoor/outdoor weatherproofing allows “anywhere” mounting.
PCTEL’s multi-GNSS L1/L2/L5 antennas combine aerospace-level precision with global satellite compatibility in a highly durable package. They enable critical applications including vehicular automation, 5G network timing synchronization and Positive Train Control (PTC) systems. The antennas increase the accuracy of timing and location information by providing simultaneous access to multiple GNSS signals across multiple frequency bands. The antennas support all relevant GPS, GLONASS, BeiDou and Galileo frequencies with excellent multipath mitigation and high out-of-band rejection for greater signal clarity. Their robust AAR and IP67-compliant design makes them suitable for years of use on railways and in other harsh real-world environments.
Four new GPS handhelds are designed for off-road use, with safety in mind. All four of the OS GPS models have a built-in SIM card with access to the SeeMe subscription-based service and its safety features. With I.C.E (In Case of Emergency), users can send emergency alerts with exact coordinates to family and friends directly from the OS GPS. Live Tracking enables the user to be locatable at all times, sharing location and performance data with up to 20 friends in real time. Aventura, the most advanced navigation device, can be used in all weather conditions.
Zubie Fleet Connect provides real-time GPS fleet tracking, driver check-in and performance reports, and vehicle health alerts. The monitoring and reporting service lets managers of fleets from 2 to 5,000 vehicles optimize business on the road. Wi-Fi connection to the cloud delivers important information about the health and performance of the vehicle, enhancing driver safety. Zubie also works with large enterprises to develop custom data flows and access driving data that can be used to analyze driving patterns, spot geographical trends in activity, or improve fleet asset management based on vehicle wear and tear.
The Heliscope 2.0 provides onboard data collection with speed, efficiency and productivity improvements for the utility inspection industry. It provides a solution for operations over greater distances or in harsher environments than drones can accommodate The system integrates multiple sensor systems into a single, lightweight helicopter payload, capable of simultaneously collecting a range of data types required for utility maintenance and vegetation management inspections. Deployment enables optimized inspection and maintenance schedules, offering potential cost savings in those operational activities by as much as 50 percent. The Heliscope 2.0 has flexible mounting configurations and the ability to adapt for mounting on many different helicopter types.
Based on DJI’s M600 Pro platform, the Leica Aibot system is designed to rapidly and autonomously enable digitizing of critical infrastructure. It enables users to get a complete data set quickly with a user-friendly interface. Using Leica Infinity for point-cloud, digital surface model and orthophoto generation enables surveyors to process and visualize aerial data. For construction projects, Aibot provides access to critical information to perform volume calculations and monitor site progress. Users can see high-definition imagery and 3D mapping of the site and document progress. The UAV data can be combined with other survey technologies such as GPS for a more complete set of information.
Two lightweight, compact antennas are designed for UAVs with a low aerodynamic profile. Antenna model TW1829 is for original equipment manufacturers (OEMs), and model TW8829 is a housed version. Accutenna technology provides high-level rejection of multipath signals, a phase linear response and tight phase-center variations. Pre-filters prevent saturation of the front-end low noise amplifier by strong near frequency and harmonic signals.
The HA32 high-performance antenna supports GPS, GLONASS, Galileo, BeiDou and Hemisphere’s Atlas L-band correction service. It is designed for UAVs, geographic information systems (GIS), surveying, real-time kinematic (RTK) and other applications requiring high-precision positioning and navigation. The HA32 is built on a proprietary four-helix antenna technology that provides superior filtering and anti-jamming performance with features such as a low noise figure of 2.0 dB (typical) and up to 30-dB gain (typical). Suitable for most outdoor and harsh operating environments, the HA32 antenna is sealed in a durable and ruggedized IP67-rated. The lightweight (40 g, typical), compact form factor (40 x 75 mm) makes it resistant to wind when on UAVs.
As the dust from this year’s AUVSI Xponential show, which took place May 1-4 in Denver, begins to settle, we complete the overview we began last month and wrap up our coverage of the show.
Septentrio
Septentrio introduced its AsteRx-i V product series of integrated GNSS/inertial receivers, based on the Septentrio m2 GPS/GLONASS/Galileo/BeiDou/QZSS/SBAS receiver and a high-end VectorNav MEMS IMU. Providing:
AsteRx-i V receiver & IMU. (Photo: Septentrio)
Reliable, accurate IMU-enhanced GNSS positioning down to the cm level
Full attitude — heading pitch and roll
Lightweight, low power <50 grams, typically 1.5 W — suitable for UAV applications
AIM+ interference monitoring and mitigation system
High update rate, low-latency positioning and attitude
Also introduced at the show was the AsteRx SB, a packaged version of the m2 receiver with multiple interfaces and Bluetooth wireless, targeted at machine control and other sensor fusion applications.
GSS9000 Simulator. (Image: Spirent)
Spirent Federal
Spirent offered a demo of its “flagship” GSS9000 simulator at the show — with capability to generate all constellations, all frequencies, plus L-band signals. Kalani Needham (director of sales) also mentioned the company’s sim-MNSA program with Rockwell Collins, aimed at providing support for M-code for the GNSS simulation market.
DJI
Inspire drone. (Image: DJI)
As usual, the DJI booth was extremely busy — with a demo area almost continuously flying each of the most popular DJI drones. What I learnt from my visit was that 70 percent of sales are recreational, and the balance is commercial. With quadcopters for hobbyists, using replaceable parts, auto-flight systems and data links, DJI was virtually the first drone manufacturer to market, and still one of the most successful. The Phantom now carries gimbal-mounted cameras and is finding lots of applications with business, academics and government agencies, including first adopters like the film and TV industry.
Phantom 3 drone. (Image: DJI)
DJI drones have weather resistant bodies, strong blades, swap-out easy-charge batteries, and ADS-B, RTK and heading capabilities. Set-up in the field is simple, with an SDK for lab developers, multi-spectral cameras for applications such as crop growth monitoring, real-time data available through the control uplink and infrared/visible slant-range outputs.
DJI’s approach is to keep ahead of the competition by adding more and more technology over time, and the company clearly has the sales volume to support this strategy.
CyPhy Works
PARC tethered drone system. (Photo: Tony Murfin)
CyPhy Works makes and promotes tethered drones — enabling very long endurance reconnaissance/forward observation/inspection/communications. The company got into this specific drone niche because it found customers who couldn’t live with short duration battery-restricted drone operations.
For ground forces, having a real-time video overview from higher altitude is of great benefit; similarly, they’re of great use for disaster recovery efforts, such as in the aftermath of hurricane Harvey in Texas. And if you add a Wi-Fi transducer working through one of two payload ports on its PARC (persistent aerial reconnaissance and communications) platform, you can also reconnect survivors and provide a comms network for first responders.
Ruggedized Duro receiver. (Image: Swift Navigation)
Swift Navigation
Swift is a relatively new GNSS receiver manufacturer, and its Piksi Multi receiver has a lot to do to catch up technically with the products offered by the predominant players in the market. So its approach is to use rock-bottom pricing for almost all of their offerings. Currently, the Piksi has only GPS L1/L2 and GLONASS L1/L2 plus SBAS, but Galileo and BeiDou are promised for later this year.
The new Swift capability launched at the show is Skylark, a cloud-based, hybrid PPP/RTK network currently testing in around six U.S. areas and planned for national and even worldwide coverage sometime in the future. Skylark is apparently cellular, with a large number of base sites, each equipped with a Swift Duro receiver. With a target subscription price of only $495 per year, this could be a popular GNSS assistance service, provided you use compatible Swift receivers in your application.
Swift is targeting automotive applications, and has a San Jose trial underway with Voyage at a retirement community — residents call for a self-driving taxi using a cell-phone app, and get transport anywhere in the 4,000-strong community. A similar trial at the Villages in Florida (125,000 residents and 750 miles of roads) is also apparently getting underway.
Hemisphere GNSS was also at the show with its line of GNSS receiver solutions for UAVs, Atlas Correction Service and a new V500 Heading/Smart Antenna.
The Vector V500 is an all-in-one multi- frequency, multi-GNSS smart antenna that provides RTK-level position and precise heading. The latest generation of Hemisphere’s heading antennas now appears with an integrated GNSS receiver and a rugged design sealed for the harshest environments — a design that has evolved over many years. It takes a great deal of sweat and tears to get to a reliable weather-hardened product, and Hemisphere has no doubt incorporated a lot of experience into this latest product.
Atlas corrections are derived from public JPL data and are supplied worldwide over Inmarsat L-band satellite transmissions.
Harxon Corporation
D-Helix antenna. (Photo: Harxon)
Harxon’s D-Helix antenna got lots of attention at its booth, as did the OEM frequency-hopping transceiver. The D-Helix antenna supports GPS, Galileo, BeiDou and GLONASS, as well as L-band signal reception. With low wind resistance and ruggedized IP67 protection, this antenna appeared to be very popular at the show for UAV applications.
The frequency-hopping OEM transceiver works over 840-900 MHz and weighs in at only 5 grams. With anti-jamming and wide signal capability, this miniature device is designed for complex data-intensive applications. In full duplex mode, secure data transmissions are possible over long distances with low latency. The popularity for this transceiver at the show might be connected with a recent FAA proposed rule that would require transmission of a drone’s registration ID for remote identification.
More
Other neat products and applications the GPS World team came across at the show included:
Topcon’s B111 multi-constellation GNSS receiver and the Topcon-distributed Sirius Pro fixed-wing UAV and Intel Falcon 8+ quadcopter;
the Rockwell Collins aviation Flight Management System, which is apparently being incorporated into the General Atomics commercial Flight Guardian system;
the senseFly eBee series of drones with automated mapping capability and a BVLOS (beyond visual line of sight) trial in Canada with in-flight data — more on this later.
GPS World will bring you a special UAV supplement later in the year, and we will carry more news and details on selected manufacturers and applications within this exciting and ever-expanding drone industry.
Spirent Federal Systems’ Kalani Needham discusses the company’s GSS9000 GNSS/GPS simulator at Xponential 2018. Needham also discusses the company’s partnership with Rockwell Collins to develop software that will support M-Code using the Modernized Navstar Security Algorithm.
